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Vision-based navigation by a mobile robot with obstacle avoidance using single-camera vision and ultrasonic sensing (1998).
| Content Provider | CiteSeerX |
|---|---|
| Author | Ohya, Akihisa Kosaka, Akio Kak, Avinash Borenstein, J. |
| Abstract | This paper describes a vision-based navigation method in an indoor environment for an autonomous mobile robot which can avoid obstacles. In this method, the self-localization of the robot is done with a model-based vision system, and nonstop navigation is realized by a retroactive position correction system. Stationary obstacles are avoided with single-camera vision and moving obstacles are detected with ultrasonic sensors. We will report on experiments in a hallway using the YAMABICO robot. Index Terms---Mobile robot, non-stop navigation, obstacle avoidance, self-localization, ultrasonic sensing, vision. I. INTRODUCTION In what has become a fairly well-researched approach to vision based navigation for mobile robots, a robot is provided with an environmental map and a path to follow. The important function of vision-based processing in this case consists of "self-localization." For literature on this approach, the reader is referred to [6], [13], [18], and [19]. In a different appr... |
| File Format | |
| Publisher Date | 1998-01-01 |
| Access Restriction | Open |
| Subject Keyword | Mobile Robot Ultrasonic Sensing Single-camera Vision Obstacle Avoidance Vision-based Navigation Vision-based Navigation Method Non-stop Navigation Autonomous Mobile Robot Vision-based Processing Yamabico Robot Environmental Map Stationary Obstacle Model-based Vision System Important Function Different Appr Moving Obstacle Ultrasonic Sensor Well-researched Approach Nonstop Navigation Indoor Environment Index Term Mobile Robot Retroactive Position Correction System |
| Content Type | Text |
| Resource Type | Article |
